Robot path planning using a genetic algorithm

Robot path planning can refer either to a mobile vehicle such as a Mars Rover, or to an end effector on an arm moving through a cluttered workspace. In both instances there may exist many solutions, some of which are better than others, either in terms of distance traversed, energy expended, or joint angle or reach capabilities. A path planning program has been developed based upon a genetic algorithm. This program assumes global knowledge of the terrain or workspace, and provides a family of good paths between the initial and final points. Initially, a set of valid random paths are constructed. Successive generations of valid paths are obtained using one of several possible reproduction strategies similar to those found in biological communities. A fitness function is defined to describe the goodness of the path, in this case including length, slope, and obstacle avoidance considerations. It was found that with some reproduction strategies, the average value of the fitness function improved for successive generations, and that by saving the best paths of each generation, one could quite rapidly obtain a collection of good candidate solutions

A multi-sensor system for robotics proximity operations

Robots without sensors can perform only simple repetitive tasks and cannot cope with unplanned events. A multi-sensor system is needed for a robot to locate a target, move into its neighborhood and perform operations in contact with the object. Systems that can be used for such tasks are described

MARIE Measurements and Model Predictions of Solar Modulation of Galactic Cosmic Rays at Mars

Recent data from the MARIE (Martian Radiation Environment Experiment) instrument on board the 2001 Mars Odyssey spacecraft currently in Mars orbit are presented. It is shown that the short-term modulations of galactic cosmic rays (GCR) are well described by correlating the so lar modulation parameter, , with Earth-based neutron monitor counts using a 85-day time lag and the NASA Models - HZETRN (High Z and Energy Transport) and QMSFRG (Quantum Multiple Scattering theory of nuclear Fragmentation). The dose rates observed by the MARIE instrument are within 10% of the model calculations

Particle swarm optimization : understanding order-2 stability guarantees

This paper’s primary aim is to provide clarity on which guarantees about particle stability can actually be made. The particle swarm optimization algorithm has undergone a considerable amount of theoretical analysis. However, with this abundance of theory has come some terminological inconstancies, and as a result it is easy for a practitioner to be misguided by overloaded terminology. Specifically, the criteria for both order-1 and order-2 stability are well studied, but the exact definition of order-2 stability is not consistent amongst researchers. A consequence of this inconsistency in terminology is that the existing theory may in fact misguide practitioners instead of assisting them. In this paper it is theoretically and empirically demonstrated which practical guarantees can in fact be made about particle stability. Specifically, it is shown that the definition of order-2 stability which accurately reflects PSO behavior is that of convergence in second order moment to a constant, and not to zero.http://link.springer.combookseries/5582020-03-30hj2020Computer Scienc

Visualization of Radiation Environment on Mars: Assessment with MARIE Measurements

For a given GCR (Galactic Cosmic Ray) environment at Mars, particle flux of protons, alpha particles, and heavy ions, are also needed on the surface of Mars for future human exploration missions. For the past twelve months, the MARJE (Martian Radiation Environment Experiment) instrument onboard the 200J Mars Odyssey has been providing the radiation measurements from the Martian orbit. These measurements are well correlated with the HZETRN (High Z and Energy Transport) and QMSFRG (Quantum Multiple-Scattering theory of nuclear Fragmentation) model calculations. These model calculations during these specific GCR environment conditions are now extended and transported through the CO2 atmosphere onto the Martian surface. These calculated pa11icle flux distributions are presented as a function of the Martian topography making use of the MOLA (Mars Orbiter Laser Altimeter) data from the MGS (Mars Global Surveyor). Also, particle flux calculations are presented with visualization in the human body from skin depth to the internal organs including the blood-forming organs

Recombinant HIV Envelope Proteins Fail to Engage Germline Versions of Anti-CD4bs bNAbs

Vaccine candidates for HIV-1 so far have not been able to elicit broadly neutralizing antibodies (bNAbs) although they express the epitopes recognized by bNAbs to the HIV envelope glycoprotein (Env). To understand whether and how Env immunogens interact with the predicted germline versions of known bNAbs, we screened a large panel (N:56) of recombinant Envs (from clades A, B and C) for binding to the germline predecessors of the broadly neutralizing anti-CD4 binding site antibodies b12, NIH45-46 and 3BNC60. Although the mature antibodies reacted with diverse Envs, the corresponding germline antibodies did not display Env-reactivity. Experiments conducted with engineered chimeric antibodies combining the mature and germline heavy and light chains, respectively and vice-versa, revealed that both antibody chains are important for the known cross-reactivity of these antibodies. Our results also indicate that in order for b12 to display its broad cross-reactivity, multiple somatic mutations within its VH region are required. A consequence of the failure of the germline b12 to bind recombinant soluble Env is that Env-induced B-cell activation through the germline b12 BCR does not take place. Our study provides a new explanation for the difficulties in eliciting bNAbs with recombinant soluble Env immunogens. Our study also highlights the need for intense efforts to identify rare naturally occurring or engineered Envs that may engage the germline BCR versions of bNAbs

Root Canal Anatomy of Maxillary and Mandibular Teeth

It is a common knowledge that a comprehensive understanding of the complexity of the internal anatomy of teeth is imperative to ensure successful root canal treatment. The significance of canal anatomy has been emphasized by studies demonstrating that variations in canal geometry before cleaning, shaping, and obturation procedures had a greater effect on the outcome than the techniques themselves. In recent years, significant technological advances for imaging teeth, such as CBCT and micro-CT, respectively, have been introduced. Their noninvasive nature allows to perform in vivo anatomical studies using large populations to address the influence of several variables such as ethnicity, aging, gender, and others, on the root canal anatomy, as well as to evaluate, quantitatively and/or qualitatively, specific and fine anatomical features of a tooth group. The purpose of this chapter is to summarize the morphological aspects of the root canal anatomy published in the literature of all groups of teeth and illustrate with three-dimensional images acquired from micro-CT technology.info:eu-repo/semantics/publishedVersio